Popis: |
A robust solution to the trajectory tracking control problem for a nonholonomic wheeled mobile robot should deal with the existence of structural and parameter uncertainties, external disturbances and operating limitations. The first order sliding control with boundary layer is a common and suitable solution that can ensure chattering attenuation, but with poor degree of robustness. Fortunately, higher order sliding mode control can achieves greater degree of robustness with the reduction of the chattering phenomenon. Based on this knowledge, a control strategy is proposed using a super-twisting sliding mode control, which enforces a second order sliding mode, in cascade with an inverse dynamic control with proportional plus derivative control to solve the problem achieving good robustness. This linear control technique plays an important role in increasing the robustness by mitigating the influence of neglected dynamics. Experimental results are explored to show the effectiveness of the proposed strategy. |